Condensed Consolidated Balance Sheets (Parenthetical) - $ / shares	Mar. 31, 2021	Dec. 31, 2020
Preferred Stock, shares authorized (in shares)	5,000,000	5,000,000
Preferred Stock, par value (in usd per share)	$ 0.001	$ 0.001
Common Stock, par value (in usd per share)	$ 0.001	$ 0.001
Common Stock, shares authorized (in shares)	235,000,000	235,000,000
Common Stock, shares issued (in shares)	101,702,234	101,417,441
Common Stock, shares outstanding (in shares)	100,061,096	101,354,447
Treasury stock, shares (in shares)	1,641,138	62,994
Series B Preferred Stock
Preferred Stock, shares outstanding (in shares)	443	443